Ergodic Specifications for Flexible Swarm Control: From User Commands to Persistent Adaptation. - Ahalya Prabhakar; Ian Abraham; Annalisa T. Taylor; Millicent Schlafly; Katarina Popovic; Giovani Diniz; Brendan Teich; Borislava I. Simidchieva; Shane Clark; Todd D. Murphey (Robotics: Science and Systems, 2020)

Scale-Invariant Specifications for Human-Swarm Systems. - Joel Meyer; Ahalya Prabhakar; Allison Pinosky; Ian Abraham; Annalisa T. Taylor; Millicent Schlafly; Katarina Popovic; Giovani Diniz; Brendan Teich; Borislava I. Simidchieva; Shane Clark; Todd D. Murphey (Field Robotics, 2023)